Natural Pitch and Roll
First Claim
1. A method comprising:
- receiving, by a robot, a first plurality of measurements indicative of respective joint angles corresponding to a plurality of sensors connected to the robot, wherein the robot comprises a body and a plurality of jointed limbs connected to the body, and wherein the jointed limbs are associated with respective properties;
receiving a body orientation measurement indicative of an orientation of the body of the robot;
determining a relationship between the first plurality of measurements and the body orientation measurement based on the properties associated with the jointed limbs of the robot;
estimating an aggregate orientation of the robot based on the first plurality of measurements, the body orientation measurement, and the determined relationship; and
based on the estimated aggregate orientation of the robot, providing instructions to control at least one jointed limb of the robot.
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Accused Products
Abstract
A control system may receive a first plurality of measurements indicative of respective joint angles corresponding to a plurality of sensors connected to a robot. The robot may include a body and a plurality of jointed limbs connected to the body associated with respective properties. The control system may also receive a body orientation measurement indicative of an orientation of the body of the robot. The control system may further determine a relationship between the first plurality of measurements and the body orientation measurement based on the properties associated with the jointed limbs of the robot. Additionally, the control system may estimate an aggregate orientation of the robot based on the first plurality of measurements, the body orientation measurement, and the determined relationship. Further, the control system may provide instructions to control at least one jointed limb of the robot based on the estimated aggregate orientation of the robot.
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Citations
20 Claims
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1. A method comprising:
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receiving, by a robot, a first plurality of measurements indicative of respective joint angles corresponding to a plurality of sensors connected to the robot, wherein the robot comprises a body and a plurality of jointed limbs connected to the body, and wherein the jointed limbs are associated with respective properties; receiving a body orientation measurement indicative of an orientation of the body of the robot; determining a relationship between the first plurality of measurements and the body orientation measurement based on the properties associated with the jointed limbs of the robot; estimating an aggregate orientation of the robot based on the first plurality of measurements, the body orientation measurement, and the determined relationship; and based on the estimated aggregate orientation of the robot, providing instructions to control at least one jointed limb of the robot. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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17. A robot comprising:
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a body; a plurality of jointed limbs connected to the body, wherein the jointed limbs are associated with respective properties; a first plurality of sensors configured to provide a first plurality of measurements indicative of respective joint angles of the jointed limbs; a second sensor configured to provide a body orientation measurement indicative of an orientation of the body of the robot, wherein the second sensor is coupled to the body; a processing system configured to (i) determine a relationship between the first plurality of measurements and the body orientation measurement based on the properties associated with the jointed limbs and (ii) estimate an aggregate orientation of the robot based on the first plurality of measurements, the body orientation measurement, and the determined relationship; and a control system configured to provide instructions to control at least one jointed limb of the robot based on the estimated aggregate orientation of the robot. - View Dependent Claims (18)
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19. A non-transitory computer-readable medium having stored thereon instructions that, upon execution by at least one processor, causes a robot to perform operations comprising:
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receiving a first plurality of measurements indicative of respective joint angles corresponding to a plurality of sensors connected to a robot, wherein the robot comprises a plurality of jointed limbs and respective properties associated with the jointed limbs; receiving a body orientation measurement indicative of an orientation of a portion of the robot; determining a relationship between the first plurality of measurements and the body orientation measurement based on the properties associated with the jointed limbs of the robot; estimating an aggregate orientation of the robot based on the first plurality of measurements, the body orientation measurement, and the determined relationship; and based on the estimated aggregate orientation of the robot, providing instructions to control at least one jointed limb of the robot. - View Dependent Claims (20)
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Specification